Explicit sub-Riemannian geodesics for the Heisenberg approximation of the rolling disc, with the first cut point derived from the isotropy symmetry.
Local geometric control of a certain mechanism with the growth vector (4,7)
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abstract
We study local control of the mechanism with the growth vector (4,7). We study controllability and extremal trajectories on the nilpotent approximation as an example of the control theory on Lie group. We give solutions of the system an show examples of local extremal trajectories.
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math.DG 1years
2019 1verdicts
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Geometric control theory of vertical rolling disc using symmetries
Explicit sub-Riemannian geodesics for the Heisenberg approximation of the rolling disc, with the first cut point derived from the isotropy symmetry.